TurtleBot3 Melodic TB3 & X

 

下载功能包

cd ~/catkin_ws/src/
git clone https://gitee.com/kay2020/turtlebot3_manipulation.git
git clone https://gitee.com/kay2020/turtlebot3_manipulation_simulations.git
git clone https://gitee.com/kay2020/open_manipulator_dependencies.git
sudo apt install ros-melodic-ros-control* && ros-melodic-control* && ros-melodic-moveit*
cd ~/catkin_ws && catkin_make

　

git clone -b melodic-devel https://gitee.com/kay2020/turtlebot3_simulations.git

　

sudo apt-get install ros-melodic-ros-controllers ros-melodic-gazebo* ros-melodic-moveit* ros-melodic-industrial-core

　　

 

 

kinetic:

 sudo apt install ros-kinetic-ros-control* && ros-kinetic-control* && ros-kinetic-moveit*

　

sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
sudo apt-get install ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench*
sudo apt-get install ros-kinetic-robotis-manipulator

　　

　

git clone https://gitee.com/kay2020/open_manipulator_dependencies.git

　　

noetic

sudo apt-get install ros-noetic-ros-controllers ros-noetic-gazebo* ros-noetic-moveit* ros-noetic-industrial-core
sudo apt install ros-noetic-dynamixel-sdk ros-noetic-dynamixel-workbench*
sudo apt install ros-noetic-robotis-manipulator

　　

 

启动机器人

[TurtleBot3 SBC]

roslaunch turtlebot3_bringup turtlebot3_robot.launch

 

[Remote PC] 

roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

　　

roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch

　　

 

 

SLAM